{"id":"https://openalex.org/W4416750346","doi":"https://doi.org/10.1109/iros60139.2025.11247177","title":"Antagonistic Physical-Virtual Framework for the Development of Soft Actuators","display_name":"Antagonistic Physical-Virtual Framework for the Development of Soft Actuators","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750346","doi":"https://doi.org/10.1109/iros60139.2025.11247177"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247177","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103055610","display_name":"Diogo Fonseca","orcid":"https://orcid.org/0000-0002-5287-6990"},"institutions":[{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Diogo Fonseca","raw_affiliation_strings":["University of Coimbra,Department of Mechanical Engineering,Coimbra,Portugal"],"affiliations":[{"raw_affiliation_string":"University of Coimbra,Department of Mechanical Engineering,Coimbra,Portugal","institution_ids":["https://openalex.org/I76903346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080585176","display_name":"Pedro Neto","orcid":"https://orcid.org/0000-0003-2177-5078"},"institutions":[{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Pedro Neto","raw_affiliation_strings":["University of Coimbra,Department of Mechanical Engineering,Coimbra,Portugal"],"affiliations":[{"raw_affiliation_string":"University of Coimbra,Department of Mechanical Engineering,Coimbra,Portugal","institution_ids":["https://openalex.org/I76903346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5103055610"],"corresponding_institution_ids":["https://openalex.org/I76903346"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35207464,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7412","last_page":"7417"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9409999847412109,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9409999847412109,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.02250000089406967,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11608","display_name":"Dielectric materials and actuators","score":0.012199999764561653,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.8159000277519226},{"id":"https://openalex.org/keywords/test-bench","display_name":"Test bench","score":0.4966999888420105},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4821999967098236},{"id":"https://openalex.org/keywords/workflow","display_name":"Workflow","score":0.43549999594688416},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.3643999993801117},{"id":"https://openalex.org/keywords/system-integration","display_name":"System integration","score":0.35499998927116394},{"id":"https://openalex.org/keywords/development","display_name":"Development (topology)","score":0.3425999879837036}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8159000277519226},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5426999926567078},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4984999895095825},{"id":"https://openalex.org/C2776266606","wikidata":"https://www.wikidata.org/wiki/Q476482","display_name":"Test bench","level":2,"score":0.4966999888420105},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4821999967098236},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.43549999594688416},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4341999888420105},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.3643999993801117},{"id":"https://openalex.org/C19527686","wikidata":"https://www.wikidata.org/wiki/Q1665453","display_name":"System integration","level":2,"score":0.35499998927116394},{"id":"https://openalex.org/C2776542497","wikidata":"https://www.wikidata.org/wiki/Q5266672","display_name":"Development (topology)","level":2,"score":0.3425999879837036},{"id":"https://openalex.org/C107683887","wikidata":"https://www.wikidata.org/wiki/Q782466","display_name":"Integration testing","level":3,"score":0.33329999446868896},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.31779998540878296},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.2924000024795532},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27129998803138733},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26330000162124634},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2630999982357025},{"id":"https://openalex.org/C195672273","wikidata":"https://www.wikidata.org/wiki/Q6888132","display_name":"Model-based design","level":2,"score":0.25920000672340393},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.25429999828338623}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247177","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320330374","display_name":"Foundation for Science and Technology","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1704704075","https://openalex.org/W2070662831","https://openalex.org/W2093132298","https://openalex.org/W2524719417","https://openalex.org/W2782435507","https://openalex.org/W2801458905","https://openalex.org/W2825265278","https://openalex.org/W2958696637","https://openalex.org/W3097531163","https://openalex.org/W3104152360","https://openalex.org/W3133349997","https://openalex.org/W3150395494","https://openalex.org/W3153533145","https://openalex.org/W3165472471","https://openalex.org/W3202992521","https://openalex.org/W3213189848","https://openalex.org/W4210478179","https://openalex.org/W4210894397","https://openalex.org/W4214644029","https://openalex.org/W4285154232","https://openalex.org/W4301606314","https://openalex.org/W4367041227","https://openalex.org/W4389438337","https://openalex.org/W4401607269","https://openalex.org/W4409783061"],"related_works":[],"abstract_inverted_index":{"Soft":[0],"robots":[1,26],"rely":[2],"on":[3],"soft":[4,25,32,137],"actuators,":[5],"whose":[6],"nonlinear":[7],"responses":[8],"are":[9],"challenging":[10],"to":[11],"model,":[12],"simulate,":[13],"and":[14,27,50,57,62,70,108,115,123,129],"integrate":[15],"into":[16],"designs.":[17],"This":[18,64],"complexity":[19],"hinders":[20],"the":[21,80,132,143],"development":[22,49,133],"of":[23,82,126,135],"advanced":[24],"rigid":[28],"mechanisms":[29],"that":[30,53],"require":[31],"actuators":[33,150],"for":[34,47,60,79,104],"compliant":[35],"actuation.":[36],"To":[37],"address":[38],"this,":[39],"in":[40,86],"this":[41],"study":[42],"we":[43],"present":[44],"a":[45,87,100,152],"framework":[46,65],"model":[48],"actuator":[51,72,84,96,127],"integration":[52,73,97],"offers":[54],"both":[55,106],"real":[56],"virtual":[58,83],"environments":[59],"testing":[61,81],"validation.":[63],"includes":[66],"high-fidelity":[67],"digital":[68,76,89],"twins":[69],"an":[71],"bench.":[74],"The":[75,95],"twin":[77],"allows":[78],"models":[85,107,128],"validated":[88],"environment,":[90],"replicating":[91],"various":[92],"load":[93,113],"profiles.":[94],"bench":[98],"provides":[99],"safe,":[101],"reproducible":[102],"platform":[103],"validating":[105],"controllers":[109],"under":[110],"different":[111],"loads,":[112],"profiles,":[114],"inertial":[116],"conditions.":[117],"Together,":[118],"these":[119],"tools":[120],"enable":[121],"rapid":[122],"reliable":[124],"validation":[125],"controllers,":[130],"accelerating":[131],"cycle":[134],"complex":[136],"robots.":[138],"We":[139],"conclude":[140],"by":[141],"demonstrating":[142],"proposed":[144],"workflow":[145],"using":[146],"liquid-gas":[147],"phase":[148],"transition":[149],"as":[151],"demonstrative":[153],"test":[154],"subject.":[155],"Our":[156],"source":[157],"code":[158],"is":[159],"available":[160],"at:":[161],"https://github.com/softrobotic/antagonistic.":[162]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}